Determination of first and second order instant screw parameters from landmark trajectories

Henry Joseph Sommer, III

    Research output: Contribution to journalArticlepeer-review

    33 Scopus citations


    Least squares methods were developed to determine instant screw axis (ISA) and angular acceleration axis (AAA) parameters in experimental and analytical studies. The algorithms provide linear relationships for rigid body velocity and acceleration descriptors based on position, velocity, and acceleration data for individual points on the body. Weighted least squares estimators are presented for statistical weighting on individual landmarks as well as for variance weighting to reduce systematic measurement effects. The methods include instantaneous second order screw motion which describes differential geometry of screw axodes. Two spatial mechanism examples provide recommendations for landmark count, distribution, and placement.

    Original languageEnglish (US)
    Pages (from-to)274-282
    Number of pages9
    JournalJournal of Mechanical Design, Transactions Of the ASME
    Issue number2
    StatePublished - Jan 1 1992

    All Science Journal Classification (ASJC) codes

    • Mechanics of Materials
    • Mechanical Engineering
    • Computer Science Applications
    • Computer Graphics and Computer-Aided Design


    Dive into the research topics of 'Determination of first and second order instant screw parameters from landmark trajectories'. Together they form a unique fingerprint.

    Cite this